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Added thread safety to USB TX, servo control thread, primitive ADC thread, python test codes

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2026-09-22 13:01:31 +03:00
parent 1d1416d5d8
commit dd7e6d9456
16 changed files with 944 additions and 40 deletions
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servo_controller/src/servo.h
+15 -1
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@@ -2,12 +2,26 @@
#define SERVO_H
#define NUM_SERVO_CHANNELS 18
#define SERVO_CENTER_PULSE 1500
#define SERVO_MIN_PULSE 750
#define SERVO_MAX_PULSE 2500
#define SERVO_HALF_PULSE_RANGE 875
#define SERVO_MAX_ANGLE 2.3561944902f
#define SERVO_MIN_ANGLE -2.3561944902f
#define SERVO_ANGLE_PULSE_MULTIPLIER 371.3615338798826f
struct servo_t {
float current_position;
float set_position;
};
int servo_init();
void servo_set_angle(int channel, float angle);
void servo_set_all_angles(float angles[NUM_SERVO_CHANNELS]);
int servo_set(int channel, float angle);
#endif // SERVO_H